Design and Research on Structure of Underwater Manipulator

In order to research the control technologies of the underwater manipulator in marine environment,based on the analysis of the underwater manipulator operating performance and the working environment,the 3-DOF experimental prototype of the underwater manipulator is developed for Autonomous Underwater Vehicle(AUV).On the basis of analyzing the joint essential components,the designing of the underwater manipulator drive type is carried on,and the water tightness experimental study is conducted finally.The underwater manipulator water tightness experimental result has confirmed the underwater manipulator structural design is effective and feasible,and the underwater manipulator structural design has built a experimental platform for the research on the intelligent control technique of the underwater manipulator.